added cone geometry, implemented fov visualization

agent.m

@@ -21,6 +21,9 @@ classdef agent
         % Collision
         collisionGeometry;
 
+        % FOV cone
+        fovGeometry;
+
         % Communication
         comRange = NaN;
 
@@ -57,6 +60,10 @@ classdef agent
             obj.comRange = comRange;
             obj.index = index;
             obj.label = label;
+
+            % Initialize FOV cone
+            obj.fovGeometry = cone;
+            obj.fovGeometry = obj.fovGeometry.initialize([obj.pos(1:2), 0], obj.sensorModel.r, obj.pos(3), REGION_TYPE.FOV, sprintf("%s FOV", obj.label));
         end
         function obj = run(obj, sensingObjective, domain, partitioning)
             arguments (Input)
@@ -113,7 +120,13 @@ classdef agent
                 end
             end
 
-            % Network connections
+            % Update FOV geometry surfaces
+            for jj = 1:size(obj.fovGeometry.surface, 2)
+                % Update each plot
+                obj.fovGeometry.surface(jj).XData = obj.fovGeometry.surface(jj).XData + deltaPos(1);
+                obj.fovGeometry.surface(jj).YData = obj.fovGeometry.surface(jj).YData + deltaPos(2);
+                obj.fovGeometry.surface(jj).ZData = obj.fovGeometry.surface(jj).ZData + deltaPos(3);
+            end
         end
         function [obj, f] = plot(obj, ind, f)
             arguments (Input)
@@ -146,6 +159,9 @@ classdef agent
 
             % Plot collision geometry
             [obj.collisionGeometry, f] = obj.collisionGeometry.plotWireframe(ind, f);
+
+            % Plot FOV geometry
+            [obj.fovGeometry, f] = obj.fovGeometry.plot(ind, f);
         end
     end
 end

geometries/REGION_TYPE.m

@@ -8,6 +8,7 @@ classdef REGION_TYPE
         DOMAIN (1, [0, 0, 0]); % domain region
         OBSTACLE (2, [255, 127, 127]); % obstacle region
         COLLISION (3, [255, 255, 128]); % collision avoidance region
+        FOV (4, [255, 165, 0]); % field of view region
     end
     methods
         function obj = REGION_TYPE(id, color)

geometries/cone.m

@@ -1,22 +1,82 @@
 classdef cone
-    %CONE Summary of this class goes here
+    % Conical geometry
-    %   Detailed explanation goes here
+    properties (SetAccess = private, GetAccess = public)
+        % Meta
+        tag = REGION_TYPE.INVALID;
+        label = "";
 
-    properties
+        % Spatial
-        Property1
+        center = NaN;
+        radius = NaN;
+        height = NaN;
+
+        % Plotting
+        surface;
+        n = 32;
     end
 
     methods
-        function obj = cone(inputArg1,inputArg2)
+        function obj = initialize(obj, center, radius, height, tag, label)
-            %CONE Construct an instance of this class
+            arguments (Input)
-            %   Detailed explanation goes here
+                obj (1, 1) {mustBeA(obj, 'cone')};
-            obj.Property1 = inputArg1 + inputArg2;
+                center (1, 3) double;
-        end
+                radius (1, 1) double;
+                height (1, 1) double;
+                tag (1, 1) REGION_TYPE = REGION_TYPE.INVALID;
+                label (1, 1) string = "";
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+            end
 
-        function outputArg = method1(obj,inputArg)
+            obj.center = center;
-            %METHOD1 Summary of this method goes here
+            obj.radius = radius;
-            %   Detailed explanation goes here
+            obj.height = height;
-            outputArg = obj.Property1 + inputArg;
+            obj.tag = tag;
+            obj.label = label;
+        end
+        function [obj, f] = plot(obj, ind, f)
+            arguments (Input)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+                ind (1, :) double = NaN;
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')} = figure;
+            end
+            arguments (Output)
+                obj (1, 1) {mustBeA(obj, 'cone')};
+                f (1, 1) {mustBeA(f, 'matlab.ui.Figure')};
+            end
+
+            % Create axes if they don't already exist
+            f = firstPlotSetup(f);
+
+            % Plot cone
+            [X, Y, Z] = cylinder([obj.radius, 0], obj.n);
+            
+            % Scale to match height
+            Z = Z * obj.height;
+
+            % Move to center location
+            X = X + obj.center(1);
+            Y = Y + obj.center(2);
+            Z = Z + obj.center(3);
+
+            % Plot
+            if isnan(ind)
+                o = surf(f.CurrentAxes, X, Y, Z);
+            else
+                hold(f.Children(1).Children(ind(1)), "on");
+                o = surf(f.Children(1).Children(ind(1)), X, Y, Z, ones([size(Z), 1]) .* reshape(obj.tag.color, 1, 1, 3), 'FaceAlpha', 0.25, 'EdgeColor', 'none');
+                hold(f.Children(1).Children(ind(1)), "off");
+            end
+
+            % Copy to other requested tiles
+            if numel(ind) > 1
+                for ii = 2:size(ind, 2)
+                    o = [o, copyobj(o(:, 1), f.Children(1).Children(ind(ii)))];
+                end
+            end
+
+            obj.surface = o;
         end
     end
 end

miSim.m

@@ -205,6 +205,13 @@ classdef miSim
                 [obj, f] = obj.plotPartitions(obj.partitionGraphIndex, f);
             end
 
+            % reset plot limits to fit domain
+            for ii = 1:size(obj.spatialPlotIndices, 2)
+                xlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(1), obj.domain.maxCorner(1)]);
+                ylim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(2), obj.domain.maxCorner(2)]);
+                zlim(f.Children(1).Children(obj.spatialPlotIndices(ii)), [obj.domain.minCorner(3), obj.domain.maxCorner(3)]);
+            end
+
             drawnow;
         end
         function obj = updateAdjacency(obj)

sensingModels/sigmoidSensor.m

@@ -7,6 +7,8 @@ classdef sigmoidSensor
         betaPan = NaN;
         alphaTilt = NaN;
         betaTilt = NaN;
+
+        r = NaN;
     end
 
     methods (Access = public)
@@ -30,6 +32,8 @@ classdef sigmoidSensor
             obj.betaPan = betaPan;
             obj.alphaTilt = alphaTilt;
             obj.betaTilt = betaTilt;
+
+            obj.r = obj.alphaDist;
         end
         function [values, positions] = sense(obj, agent, sensingObjective, domain, partitioning)
             arguments (Input)